WebbotLib

C Library for Atmel AVR Processors

WebbotLib is a C library for robot builders supporting the following microcontrollers: ATMega168, ATMega32, ATMega328P, ATMega640, ATMega644, ATMega1280, ATMega2560 and ATMega2561.

The library supports a wide variety of different motor controllers, sensors and other devices. This allows you to concentrate on writing your own software without having to worry about the low level routines required to communicate with the attached devices.

When ever possible we have standardised the devices. For example: all distance sensors will return a value in centimeters. This means that you can change from one distance sensor to another with only a handfull of code changes at the top of your program. The same principle applies to motor controllers.

As well as the supported microcontrollers listed above the library also provides support for some commercial boards based on these devices. This allows 'built in' devices such as LEDs, buttons, or motor controllers to be automatically defined as well as making sure that you only attach devices to pins that have been made available by the manufacturer.

The source code and documentation for the latest release of this library is available from: http://sourceforge.net/projects/webbotavrclib/

Note that there are two code streams:-

Version 1 uses C only and can be used with, or without, Project Designer.

Version 2 requires you to use Project Designer and can generate smaller and more efficient code in either C or C++.

An online version of the C documentation is available here and the online C++ documentation is here

Comments and some unofficial examples may be found at the Society Of Robots web site

See whats new for WebbotLib

Here is just a flavour of the devices currently supported:-

Type	Model	Comments
Audio	SOMO14D	Allows playback of audio files from a microSD card
Camera	Blackfin	Supports all resolution modes Blob Detection Mean Colour Get Pixel colour at X,Y Count pixels in a rectangle that match a colour bin
	AVRcam	Blob Detection Get Pixel colour at X,Y
Motors	Sabertooth	2x5 amps 2x10amps 2x25 amps
	Pololu	Dual Serial protocol
	Sanyo	Stand alone or built into board like BabyOrangutan
	Solarbotics	L298 motor driver
	Toshiba	TB6612FNG either as a seperate module or built into boards like the BabyOrangutan B328
Stepper Motors	Pololu	A4983 stepper motor controller board
	Generic	L297
Accelerometers		ADXL335 ADXL345 ACCM3D2 MMA7260QT
Compass		CMPS03 CMPS09 HMC5843 HMC6343 HMC6352 HMC5883L
Current	Phidget	DC and AC sensors
Distance	Devantech	SRF02, SRF04, SRF05, SRF08 sonars
	Maxbotix	EZ1 MB7077 (suitable for underwater)
	Ping	Ping Sonar
	Sharp	Infra-red devices such as: GP2 GP2D12 GP2D120 GP2D15 GP2Y0A02YK GP2Y0A02YKOF GP2Y0A21YK GP2YOA700KOF GP2Y0AY710KOF And wide range devices like: GP2Y3A002KOF GP2Y3A003KOF
Gyro	InvenSense	IDG300 IDG500 ITG3200
	ST	LPR530AL LY530ALH
GPS		Any GPS device sending NMEA messages
IMU	SparkFun	Razor 9DofF
Servos		All standard Futaba/Hitech compliant servos Dynamixel AX-12 Devantech SD21 Servo controller
Controllers	Sony	Sony PS2 controller
Storage		SPI EEPROM I2C EEPROM SD Card (raw format or a FAT file system so it is readable on a computer)
Temperature	Maxim	DS18B20
Real Time Clock		DS1307 DS3234
Pressure	Bosch	BMP085
	Motorola	MPX5100a
Communications	Narobo	DroneCell

Don't see your sensors listed here? Well we may already support them.

If you are a 'user' then check the docs from the latest release.

If you are a 'supplier' or 'manufacturer' then contact me. Here is an example of traffic on the Society Of Robots website to do with WebbotLib